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2022 19th International Conference on Ubiquitous Robots (UR)最新文献

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Design and analysis of a spherical robot based on reaction wheel stabilization 基于反作用轮稳定的球形机器人设计与分析
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826266
Cheng Li, Aibin Zhu, Chunli Zheng, Han Mao, Muhammad Affan Arif, Jiyuan Song, Yulin Zhang
{"title":"Design and analysis of a spherical robot based on reaction wheel stabilization","authors":"Cheng Li, Aibin Zhu, Chunli Zheng, Han Mao, Muhammad Affan Arif, Jiyuan Song, Yulin Zhang","doi":"10.1109/ur55393.2022.9826266","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826266","url":null,"abstract":"In this paper, we present the design of a spherical robot with a high spherical shell to drive-unit mass ratio. A drive unit and a novel shell structure design for the spherical robot are proposed, and reaction wheels are used to reduce the robot’s oscillations. Dynamic models of the spherical robot are established for linear motion and static state by using Lagrange equation. The stability of the robot is studied via simulations in different, such as accelerated state, uniform state, and so on. The results demonstrate the ability of the reaction wheel structure to enhance the robot’s stability.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126882523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Contact Force Control During Soft Tissue Interaction Using Handheld Robot 手持式机器人在软组织交互过程中的接触力控制
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826260
Ingu Choi, Eunchan Kim, Myo-Taeg Lim, Sungwook Yang
{"title":"Contact Force Control During Soft Tissue Interaction Using Handheld Robot","authors":"Ingu Choi, Eunchan Kim, Myo-Taeg Lim, Sungwook Yang","doi":"10.1109/ur55393.2022.9826260","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826260","url":null,"abstract":"This paper presents a control scheme to maintain consistent contact force using a handheld robot during soft tissue interaction with imaging instruments such as probe-based confocal laser endomicroscopy (pCLE). The handheld robot incorporates a 6-DOF miniature micromanipulator and a force sensor for the control. Given force set for clearly visualizing tissue on contact, the handheld robot can maintain such a tiny force by actively controlling its tool tip using the micromanipulator. It allows keeping locating the tool tip within the depth-of-focus region of the imaging instrument regardless of actual force on the soft tissue engaged by hand motion delivered to the handpiece of the robot. The contact force is regulated primarily by controlling the depth of the tool tip from the tissue surface. This procedure is accomplished by controlling the position of the tool tip via closed-loop force control. To validate the control scheme, we evaluated force tracking performance at the tool tip given a sinusoidal force input with an amplitude of 0.1 N for various frequencies, while firmly fixing the robot. As a result, the handheld robot could maintain the target force with an RMS error of less than 7.8 mN. The handheld task holding the robot on top of a single contact point was also evaluated, which yields an RMS error of 22.6 mN along the Z-axis of the sensor. Finally, the robot-aided scanning over the surface of the soft tissue was performed using the handheld robot, and the error was significantly reduced by 31.6% on average compared to unaided operation.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124474312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Study on crack initiation of harmonic gears based on extended finite element method* 基于扩展有限元法的谐波齿轮裂纹萌生研究*
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826247
Yu-xin Zhang, Xudong Pan, Yuefeng Li, G. Wang
{"title":"Study on crack initiation of harmonic gears based on extended finite element method*","authors":"Yu-xin Zhang, Xudong Pan, Yuefeng Li, G. Wang","doi":"10.1109/ur55393.2022.9826247","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826247","url":null,"abstract":"The failure of the flexible wheel is the most important factor affecting the life of the harmonic reducer. In this paper, the harmonic gear which is widely used in the field of robotics and aerospace is taken as the research object. The basic principle of the extended finite element method has been discussed. Then, the involute harmonic drive is modeled and loaded, and the area of maximum stress is obtained as the crack initiation position. Further, the damage model of the harmonic gear is established based on the extended finite element method, and the rim crack growth path of the flexible wheel is observed. And the influence of crack parameters on the propagation path has been discussed. Finally, the high power to weight ratio harmonic reducer is machined and tested.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131953787","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a Soft Haptic Sensor Capable of Measuring Contact Forces Based on Magnetorheological Elastomers 基于磁流变弹性体的接触力测量软触觉传感器的研制
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826271
Booyong Im, Jungwon Yoon
{"title":"Development of a Soft Haptic Sensor Capable of Measuring Contact Forces Based on Magnetorheological Elastomers","authors":"Booyong Im, Jungwon Yoon","doi":"10.1109/ur55393.2022.9826271","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826271","url":null,"abstract":"Soft haptic sensors play an important role in gauging haptic interaction in human collaborative robotics and physical rehabilitation. Currently available sensors are difficult to use in real-world applications where low magnitude forces need to be measured, or where the sensor must be attached to the highly curved surface of the human body or robotic arm. Therefore, this paper proposes a new soft haptic sensor that can be used in such applications. In the proposed sensor we have used MRE (Magnetorheological elastomer) to transform the ‘non-characteristic magnetic fluxes’ generated by 4 permanent magnets into a ‘vector-characteristic cluster’ the directionality of which is dependent on the location of application of the external force. This allows us to estimate the location and magnitude of the applied force. In addition, the sensor is built on an FPCB (Flexible PCB) to allow it to have robust properties even when it is used in rough situations where it must be attached to surfaces with different geometries and is subjected to high external forces. The results of the sensor capability verification experiments show that the soft haptic sensor has an acceptable level of performance when subjected to an external force of 1.2~2.0 kgf.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134519709","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Novel Filter Pruning Algorithm for Vision Tasks based on Kernel Grouping 一种基于核分组的视觉任务滤波剪枝算法
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826290
Jongmin Lee, A. Elibol, N. Chong
{"title":"A Novel Filter Pruning Algorithm for Vision Tasks based on Kernel Grouping","authors":"Jongmin Lee, A. Elibol, N. Chong","doi":"10.1109/ur55393.2022.9826290","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826290","url":null,"abstract":"Although the size and the computation cost of the state of the art deep learning models are tremendously large, they run without any problem when implemented on computers thanks to the remarkable enhancements and advancements of computers. However, the problem is likely to be faced when the need for deploying them on mobile platforms arises. Model compression techniques such as filter pruning or knowledge distillation help to reduce the size of deep learning models. However the conventional methods contain sorting algorithms therefore they cannot be applied to models that have reshaping layers like involution. In this research, we revisit a model compression algorithm named Model Diet that can be both applied to involution and convolution models. Furthermore, we present its application on two different tasks, image segmentation and depth estimation.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133847910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM 基于统一几何表征的室内视觉SLAM语义增强研究
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826249
Ioannis Asmanis, P. Mermigkas, G. Chalvatzaki, Jan-Martin Peters, P. Maragos
{"title":"A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM","authors":"Ioannis Asmanis, P. Mermigkas, G. Chalvatzaki, Jan-Martin Peters, P. Maragos","doi":"10.1109/ur55393.2022.9826249","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826249","url":null,"abstract":"Over the last two decades, visual SLAM research has taken a turn towards using geometric structures more complex than points for describing indoor environments. At the same time, semantic information is becoming increasingly available to robotic applications, improving robots’ perceptive capabilities. In this work, we introduce a method for uniting these two approaches. Namely, we propose a novel mechanism for propagating semantics directly into the optimization level of an RGB-D SLAM framework. This framework internally uses unified geometric representations to jointly describe points, lines and planes. We also validate our approach with experiments on various datasets, both synthetic and real-world, with comparisons against representative systems from the literature.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128269669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of Vehicle Detection Method on Water Surface Using LiDAR Data for Situation Awareness 基于态势感知的激光雷达水面车辆探测方法研究
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826242
Eon-ho Lee, Hyeonmyeong Jeon, Jinwoo Choi, Hyun-Taek Choi, Sejin Lee
{"title":"Development of Vehicle Detection Method on Water Surface Using LiDAR Data for Situation Awareness","authors":"Eon-ho Lee, Hyeonmyeong Jeon, Jinwoo Choi, Hyun-Taek Choi, Sejin Lee","doi":"10.1109/ur55393.2022.9826242","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826242","url":null,"abstract":"In order to operate unmanned autonomous surface vehicle, it is necessary to strongly detect water obstacles. Among the sensors for this purpose, LiDAR sensor is the most intuitive at close range and can detect obstacles strongly regardless of surrounding environmental conditions. In order to detect obstacles with 3D LiDAR sensor data, clustering of point clouds for each object is first required. These clustered point groups are used to classify the types of objects. In this study, a convolutional neural network is used to classify the types of objects. Since 3D point cloud data cannot be directly entered into this network, we propose the descriptor that can express the representative characteristics of the clustered point cloud. Using this descriptor, 3D point cloud data can be converted into a 2D image, and the converted 2D image is provided as an input value of the network. Using the experimental results on the simulator, we intend to verify the validity of the use of the point cloud feature descriptor proposed in this study.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128620264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Touchless Shared-Control for Wheelchair Navigation 轮椅导航的非接触式共享控制
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826259
Graham Ching, H. Bozorgi, T. Ngo
{"title":"Touchless Shared-Control for Wheelchair Navigation","authors":"Graham Ching, H. Bozorgi, T. Ngo","doi":"10.1109/ur55393.2022.9826259","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826259","url":null,"abstract":"We present a touchless shared-control approach merging wearable sensor-based control and autonomous safety control for wheelchair navigation in this study. To assist disabled people who have no or limited sensorimotor control with their fingers, a wearable armband sensor is used to control an electric wheelchair. Laser rangefinder based autonomous safety control of obstacle avoidance is also implemented through the learning from demonstration. The shared-control architecture for the wheelchair navigation is built up on the integration of the armband-based human control and autonomous safety control. A customized arbitration function was developed to make smooth transition of two control systems according to user’s preference and satisfaction. Our experiments demonstrate that the touchless shared-control can be applied for wheelchair navigation in the real world.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134054526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A Sensor Fusion Strategy for Indoor Target Three-dimensional Localization based on Ultra-Wideband and Barometric Altimeter Measurements 基于超宽带和气压高度计测量的室内目标三维定位传感器融合策略
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826288
Le Bao, K. Li, Wenqi Li, Kyoosik Shin, Wansoo Kim
{"title":"A Sensor Fusion Strategy for Indoor Target Three-dimensional Localization based on Ultra-Wideband and Barometric Altimeter Measurements","authors":"Le Bao, K. Li, Wenqi Li, Kyoosik Shin, Wansoo Kim","doi":"10.1109/ur55393.2022.9826288","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826288","url":null,"abstract":"Obtaining relative spatial localization information of target objects is crucial in scenarios such as robotics operations and augmented reality. In this paper, a strategy based on data fusion of ultra-wideband (UWB) sensors and barometric pressure (BMP) sensors are proposed to identify the three-dimensional (3D) localization information of indoor targets. The height estimation of the target is calculated from the difference in barometric pressure measured by two high-precision BMP sensors. The measured height values with the distance values measured by the UWB sensors are used to target localization based on a geometric model. Finally, the localization is dynamically optimized by triangle center-of-mass method and Kalman filtering. Based on the designed indoor 3D localization system, the target node's location measurement information in the stationary state, and the trajectory information obtained from localization in the motion state are obtained and compared with the actual location. The experimental results show that the sensor fusion system can achieve real-time localization and trajectory recording, which is convenient for scenarios such as robot operation.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132202579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Wearable Arm Strength Supporter based on Adjustable Counterbalance Mechanism using a Spring Latch Module 基于弹簧锁存模块的可调平衡机构的可穿戴手臂力量支撑
2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826284
Kyung-Nam Kim, Won-Bum Lee, Do-Won Kim, Jae-Bok Song
{"title":"Wearable Arm Strength Supporter based on Adjustable Counterbalance Mechanism using a Spring Latch Module","authors":"Kyung-Nam Kim, Won-Bum Lee, Do-Won Kim, Jae-Bok Song","doi":"10.1109/ur55393.2022.9826284","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826284","url":null,"abstract":"In industrial fields, arm strength supporting devices for workers have been developed to improve work efficiency and prevent injuries caused by muscle fatigue during repeated tasks. A device supporting arm strength based on an adjustable counterbalance mechanism with no motor or sensor has been previously developed, but it had a disadvantage in that the compensation torque adjustment is difficult during the tasks. To solve this problem, we suggest a mechanism which can easily adjust the compensation torque by using a spring-latch module. The adjustable counterbalance- based arm strength supporter (ACASS) using a spring-latch module provides two compensation torque modes which can be switched with simple shoulder movements. The muscle strength was measured by electromyography sensors to verify the performance and convenience of the ACASS. It is shown that the switching of compensation torque of the proposed ACASS is much faster and easier than that of the previous devices.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"245 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122830535","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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